Mobile device tethering for a remote parking assist system of a vehicle

ABSTRACT

Method and apparatus are disclosed for mobile device tethering for a remote parking assist system of a vehicle. An example vehicle includes first and second wireless modules and a processor. The processor calculates trajectories of the vehicle and a mobile device and estimates a location of the mobile device. When the mobile device is within a threshold distance of the vehicle, the processor polls a key fob at an interval based on a comparison of the trajectories and estimate a location of the key fob. When the key fob is within the threshold distance, the processor enables autonomous parking.

RELATED APPLICATIONS

This application is related to U.S. application Ser. No. 15/860,242,U.S. application Ser. No. 15/860,394, U.S. application Ser. No.15/860,269, U.S. application Ser. No. 15/860,284, U.S. application Ser.No. 15/860,420, U.S. application Ser. No. 15/860,299, all of which arefiled on the same day as the present application and all of which arehereby incorporated by reference in their entirety.

TECHNICAL FIELD

The present disclosure generally relates to autonomous andsemi-autonomous vehicles and, more specifically, mobile device tetheringfor a remote parking assist system of a vehicle.

BACKGROUND

A remote parking assist (RePA) system is designed to autonomously park avehicle. The RePA system may be used when an operator of the vehicle issitting in the driver's seat and not grasping the steering wheel. Often,the RePA system is used when the operator is outside the vehicle. Theoperator triggers the RePA system to park or un-park a vehicle into orout of a parking space using a mobile device wirelessly communicatingwith the vehicle. Governments are developing regulations to require thatcontrol of RePA with the mobile device shall only be allowed when theremote device is within a certain distance of the vehicle. For example,the proposed European regulation requires the mobile device to be within6 meters of the nearest point of the motor vehicle (see EconomicCommission for Europe, Regulation No. 79) in order for the vehicle toautonomously park. However, it is difficult to accurately measure adistance of 6 m from the nearest point of the vehicle with the wirelesstechnologies commonly available on commercial mobile devices. Forexample, civilian frequencies for global positioning system (GPS)receivers have a 4 meter root mean squared (RMS) horizontal accuracy. Asa consequence, comparing the GPS coordinates of the mobile device andthe GPS coordinates of the vehicle is not accurate enough to meet thegovernmental requirements.

SUMMARY

The appended claims define this application. The present disclosuresummarizes aspects of the embodiments and should not be used to limitthe claims. Other implementations are contemplated in accordance withthe techniques described herein, as will be apparent to one havingordinary skill in the art upon examination of the following drawings anddetailed description, and these implementations are intended to bewithin the scope of this application.

Example embodiments are disclosed for mobile device tethering for aremote parking assist system of a vehicle. An example vehicle includesfirst and second wireless modules and a processor. The processorcalculates trajectories of the vehicle and a mobile device and estimatesa location of the mobile device. When the mobile device is within athreshold distance of the vehicle, the processor polls a key fob at aninterval based on a comparison of the trajectories and estimates alocation of the key fob. When the key fob is within the thresholddistance, the processor enables autonomous parking.

An example method to control a vehicle includes calculating trajectoriesof the vehicle and a mobile device and estimating, with a first wirelessmodule, a location of the mobile device. The method also includes, whenthe mobile device is within a threshold distance of the vehicle polling,with a second wireless modules, a key fob at an interval based on acomparison of the trajectories and estimating a location of the key fob.Additionally, the example method includes, when the key fob is withinthe threshold distance, enabling autonomous parking.

BRIEF DESCRIPTION OF THE DRAWINGS

For a better understanding of the invention, reference may be made toembodiments shown in the following drawings. The components in thedrawings are not necessarily to scale and related elements may beomitted, or in some instances proportions may have been exaggerated, soas to emphasize and clearly illustrate the novel features describedherein. In addition, system components can be variously arranged, asknown in the art. Further, in the drawings, like reference numeralsdesignate corresponding parts throughout the several views.

FIG. 1 illustrates a vehicle operating in accordance with the teachingsof this disclosure.

FIG. 2 illustrates the vehicle of FIG. 1 configured to determine aninitial location of a mobile device when the mobile device exits thevehicle.

FIG. 3 illustrates the vehicle of FIG. 1 configured to determine aninitial location of a mobile device using proximity based sensors.

FIGS. 4A and 4B illustrate the vehicle of FIG. 1 with proximity basedsensors.

FIG. 5 illustrates the vehicle of FIG. 1 configured to determine aninitial location of the mobile device using image recognition.

FIG. 6 illustrates a mobile device.

FIG. 7 illustrates the vehicle of FIG. 1 configured to determine whenthe mobile device is within range of the vehicle using trajectory data.

FIGS. 8A, 8B, and 8C illustrate the vehicle of FIG. 1 configured todetermine when the mobile device is with range of the vehicle usingregions of probability.

FIG. 9 illustrates the vehicle of FIG. 1 configured to visually indicatewhen the mobile device is within range of the vehicle.

FIGS. 10A, 10B, and 10C illustrate an example front of the vehicle ofFIG. 1 configured to visually indicate when the mobile device is withinrange of the vehicle.

FIGS. 11A, 11B, and 11C illustrate an example rear of the vehicle ofFIG. 1 configured to visually indicate when the mobile device is withinrange of the vehicle.

FIGS. 12A, 12B, and 12C illustrate another example rear of the vehicleof FIG. 1 configured to visually indicate when the mobile device iswithin range of the vehicle.

FIG. 13 is a block diagram of electronic components of the vehicle ofFIG. 1.

FIG. 14 is a flowchart of a method to perform remote assisted parking,which may be implemented by the electronic components of FIG. 13.

FIG. 15 is a flowchart of a method to determine an initial location ofthe mobile device when the mobile device exits the vehicle, which may beimplemented by the electronic components of FIG. 13.

FIG. 16 is a flowchart of a method to determine an initial location ofthe mobile device using localization techniques, which may beimplemented by the electronic components of FIG. 13.

FIG. 17 is a flowchart of a method to determine an initial location ofthe mobile device using inertial sensors, which may be implemented bythe electronic components of FIG. 13.

FIG. 18 is a flowchart of a method to determine an initial location ofthe mobile device using proximity sensors, which may be implemented bythe electronic components of FIG. 13.

FIG. 19 is a flowchart of a method to determine an initial location ofthe mobile device using image analysis techniques, which may beimplemented by the electronic components of FIG. 13.

FIG. 20 is a flowchart of a method to determine whether the mobiledevice is within a distance of the vehicle based on comparingtrajectories of the mobile device and the vehicle, which may beimplemented by the electronic components of FIG. 13.

FIG. 21 is a flowchart of a method to determine whether the mobiledevice is within a distance of the vehicle based on regions ofprobability, which may be implemented by the electronic components ofFIG. 13.

FIG. 22 is a flowchart of a method to visually indicate when the mobiledevice is within a distance of the vehicle, which may be implemented bythe electronic components of FIG. 13.

DETAILED DESCRIPTION OF EXAMPLE EMBODIMENTS

While the invention may be embodied in various forms, there are shown inthe drawings, and will hereinafter be described, some exemplary andnon-limiting embodiments, with the understanding that the presentdisclosure is to be considered an exemplification of the invention andis not intended to limit the invention to the specific embodimentsillustrated.

Remote park assist (RePA) systems are designed to autonomously park andun-park vehicles when the operator is outside the vehicle. For example,RePA systems may be used when a parking spot is too narrow for theoperator to open the door, or passengers to open their doors, when thevehicle is parked. RePA systems use range detection sensors (e.g.,ultrasonic sensors, radar, LiDAR, cameras, etc.) to sense theenvironment around the parking spot and plan and execute a path into andout of the parking spot. In some examples, the RePA system is activatedby the operator and scans for an available parking space. When a parkingspace is detected, the RePA system signals, via an interface (e.g., acenter console display, etc.) for the operator to stop the vehicle nearthe detected parking spot. The operator then exits the vehicle. RePAsystems are further activated via mobile devices (e.g., smartphone,smart watch, key fob, etc.) to complete the autonomous parking. Injurisdictions that require the mobile device to stay within a thresholddistance of a vehicle, the RePA system tracks the location of the mobiledevice in relation to the location of the vehicle and determines whetherthe mobile device is within the threshold distance. When the mobiledevice is outside the threshold distance from the vehicle, the RePAsystem will not autonomously move the vehicle.

RePA systems may use various techniques to determine the location of themobile device relative to the location of the vehicle, such as deadreckoning and signal triangulation. Mobile device dead reckoning usesthe inertial sensors (e.g., accelerometers, gyroscopes, etc.) in themobile device to determine the current location of the mobile devicebased on a previous location (sometimes referred to as a “fix”). As themobile device moves, the RePA system tracks the movement by tracking thedistance and direction the mobile device has traveled relative to theinitial location. To perform mobile device dead reckoning, the RePAsystem determines the initial location by establishing the location ofthe mobile device in relation to the location of the vehicle. However,establishing that relationship can be difficult. Additionally, deadreckoning is subject to cumulative error. Over time and distance, theerror becomes large enough causing the location calculations to not beaccurate enough for the RePA system. As a result, from time-to-time(e.g., after a threshold time, after a threshold distance, etc.), theRePA system reestablishes an initial location of the mobile device. Forexample, when an operator leaves the vehicle and goes shopping, toperform mobile device dead reckoning, the RePA system needs toreestablish the location of the mobile device relative to the locationof the vehicle because of the cumulative error. One localizationtechnique is to use the signal strength(s) of signals between theantenna of the mobile device and antenna(s) of the vehicle. By using ameasurement of the strength of the signals (e.g., a received signalstrength indicator (RSSI), a transmission strength (RX) a receivedchannel power indicator (RCPI), etc.), the RePA system can estimate alocation of the mobile device. The accuracy of the estimation depends onseveral factors, such as how many signal strength measurements fromdifferent vehicle antennas are being used, the frequency of the signal,the distance between the antenna of the mobile device and the antenna(s)of the vehicle, and interference of the environment around the vehicle,etc. In addition to mobile device dead reckoning, the RePA systemperforms vehicular dead reckoning. Since the vehicle moves during a RePAevent, the system must estimate the real-time location of the vehicle toproperly compare it with the estimated location of the mobile device.For example, even if the mobile device is stationary during the RePAevent, the distance between the mobile device and vehicle will change asa result of the movement of the vehicle. Vehicular dead reckoning can beperformed using the transducers already resident to typical vehicles,such as the steering wheel angle sensor and rotary encoders that areused for odometry. The vehicle can also perform dead reckoning usingsimilar methods to mobile device dead reckoning (e.g. accelerometers,gyroscopes, etc.), but the vehicle-specific hardware is likely toproduce more accurate results. As discussed below, the RePA system ofthe present disclosure uses dead reckoning and localization, singly andin combination, with various techniques to overcome the errors in thelocation determination methods and determine whether the mobile deviceis within a threshold distance of the vehicle.

As discussed below, the RePA system determines an initial location ofthe mobile device when the mobile device exits the vehicle. The RePAsystem assigns an initial location to the mobile device based on whichdoor the mobile device exits the vehicle through. For example, when themobile device exits the vehicle through the driver's side front door,the RePA system may assign a location on the door (e.g., the location ofthe door handle, etc.) to be the initial location of the mobile device.The RePA system then uses dead reckoning to track the location of themobile device based on that initial location. To determine through whichdoor the mobile device exits, the RePA system uses (a) one or both of(i) a comparison of signal strengths between at least one internalwireless antenna (e.g., an antenna of a Bluetooth® module located insidethe cabin of the vehicle, etc.) (sometimes referred to as an “internalsignal strength”) and at least one external antenna (e.g., an antenna ofa Bluetooth® module located proximate a door of the vehicle, etc.)(sometimes referred to as an “external signal strength”) to the antennaof the wireless device, and (ii) the direction of movement of the mobiledevice as indicated by the inertial sensors of the mobile device, and(b) context clues from sensors in the cabin of the vehicle. The contextclues are provided by sensors that indicate the movement or presence ofthe occupants, such as weight sensors, seat belt sensors, and/or doorangle sensors, etc.

In some examples, the vehicle includes at least one internal antenna andmultiple external antennas. In such examples, using the signals from thevarious antennas, the RePA system determines which side of the vehicleat which the mobile device exits the vehicle. In such examples, the RePAsystem determines through which door the mobile device exited based on(a) which side of the vehicle through which the mobile device exited and(a) context clues indicative of the occupant no longer occupying aparticular seat in the vehicle. For examples, the mobile device exitedthrough the passenger's side of the vehicle, and at substantially thesame time (e.g., plus or minus one second, two seconds, etc.), theweight sensor indicates that an occupant has left the front passenger'sside seat, the RePA system determines that the mobile device exitedthrough the front passenger's side door. Alternatively, in someexamples, the vehicle either does not include internal antenna(s) ormultiple external antennas to distinguish which side of the vehiclethrough which the mobile device exited. In such examples, the RePAsystem determines which side of the vehicle through which the mobiledevice exited based on measurements from the inertial sensors of themobile device.

As discussed below, the vehicle includes proximity sensors. When themobile device is in the vicinity of the vehicle (e.g., as determinedthough GPS coordinates and/or localization, etc.) and a new initiallocation of the mobile device is required, the RePA system instructs theoperator, via a corresponding application executing on the mobile deviceto place the mobile device proximate to one of the proximity sensors.The proximity sensors represent a fixed reference point on the vehicle.In some examples, the proximity sensors are near field communication(NFC) devices that communicatively couple to the mobile device when themobile device is within range (e.g., 10 centimeters, etc.).Alternatively, the proximity sensors are wireless charging modules(e.g., Qi® modules, etc.) that detect the mobile device when within athreshold range (e.g., 5-7 millimeters, etc.) of the wireless chargingmodule. Alternatively, in some examples, the proximity sensors arepressure sensors or switches that detect when the mobile device comes incontact with the proximity sensor. Alternatively, in some examples, theproximity sensors are wireless modules (e.g., Bluetooth® modules, etc.)that determine that the mobile device is proximate the wireless modulewhen signal strength indicates that the mobile device is within athreshold distance (e.g., 10 millimeters, etc.) to the wireless module.

The proximity sensors are located on areas that are accessible to theoperator when the vehicle is parked in a narrow parking spot. In someexamples, the proximity sensors are located near the rear license plateand the vehicle badge. Additionally, in some examples, the proximitysensors are located on the housing of the side view mirrors and/or oneor more door handles of the vehicle. In some examples, the RePA systemcan be activated via the proximity sensors. In such examples, bringingthe mobile device within range of the proximity sensors (a)automatically starts the corresponding RePA application on the mobiledevice, (b) unlocks the corresponding RePA application on the mobiledevice, (c) automatically presents the operator with a user default RePAstate, (d) causes the corresponding RePA application on the mobiledevice to present the operator with available parking maneuver options,and/or (d) automatically starts the engine of the vehicle.

As discussed below, the RePA system, via the corresponding applicationexecuting on the mobile device, instructs the operator to perform aspecific action, and determines the location of the mobile device basedon that action. In some examples, the RePA system instructs the operatorto hold the mobile device perpendicular to the longitudinal axis of thevehicle in view of one of the cameras (e.g., a forward-facing camera, arear-view camera, a 360 degree camera, etc.). The RePA system takes animage of the mobile device. Using a database of mobile devicespecifications and/or specifications provided when the correspondingRePA application is installed on the mobile device, the RePA systemdetermines the relative location of the mobile device based on the scaledifference between the dimensional measurements of the mobile device inthe image and the reference dimensional measurements in the database ofmobile device specifications. In some examples, the RePA systeminstructs the user to capture an image of a certain feature of thevehicle (e.g., a license plate frame, a sicker affixed the vehicle,etc.). In such examples, the RePA system determines the relativelocation of the mobile device based on differences in dimensionalmeasurements of the feature in the image and reference dimensionalmeasurements of the feature. In some examples, the RePA system instructsthe operator to point a flash of the mobile device at a camera of thevehicle. In some such examples, the RePA system communicates with themobile device using a form of visible light communication, such asLi-Fi. In some such example, the RePA system determines the distance tothe mobile device based on a measured light intensity of the flashcompared to an expected light intensity. In some such examples, themobile device repeats a pattern of different predetermined lightintensities of the flash for the RePA system to use to determine thedistance. For example, the mobile device may gradually increase thebrightness of its flash from 0% to 100% in a timeframe establishedbetween the mobile device and the RePA system.

As discussed below, in some examples, the RePA system uses the mobiledevice and a key fob to determine the location of the mobile devicerelative to the location of the vehicle. Generally, the key fobcommunicates with the vehicle at a lower frequency (e.g., 315 MHz to 902MHz) than the mobile device (e.g., 2.4 GHz). Additionally, key fobpolling is performed using a low frequency signal (e.g., 125 kHz, etc.).As such, localization techniques using the key fob polling signal aregenerally more accurate than the localization using the mobile devicesignals. Because key fobs have limited batteries, the RePA systemconserves power by changing the intervals between key fob pollingsignals based on the relationship between the mobile device and thevehicle. As used herein, “decreasing the polling interval” refers todecreasing a number of polling signals broadcast over a unit period oftime (e.g., one second, thirty seconds, etc.) and “increasing thepolling interval” refers to increasing the number of polling signalbroadcast over the unit period of time. The RePA system determines thetrajectory (e.g., the speed and the direction) of the vehicle and thetrajectory of the mobile device to determine whether the location of thevehicle and the mobile device are converging (e.g., getting closer) ordiverging (e.g., getting farther away). Using localization techniques,the RePA system determines a region of probability for the key fob. Theregion of probability represents an area that contains the location ofthe key fob taking into account the error in the estimation. That is,instead of representing a single location, the region of probabilityrepresents a set of possible locations of the key fob based on the errorin the localization technique. When the region of probability is withinthe RePA boundary and the distance between the vehicle and the mobiledevice is decreasing, the RePA system decreases or suspends the intervalof polling of the key fob. In such a scenario, when the location of themobile device and the vehicle are converging within the RePA boundary,the mobile device will not exit the boundary and thus tracking thelocation of the operator is less important. When the region ofprobability is within the RePA boundary and the distance between thevehicle and the mobile device is increasing, the RePA system resumes thekey fob polling if it has been suspended and the increases the pollinginterval as the vehicle moves further away from the mobile device inorder to more quickly detect if the operator has moved out of range. Insome examples, the RePA system may change the polling interval as afunction of vehicle velocity relative to the mobile device. For example,the increase in the polling interval may be greater the faster therelative speed of the vehicle. In such a scenario, the operator mayleave the RePA boundary and thus increasing location tracking of theoperator facilitates more quickly determining when the operator crossesthe boundary.

As discussed below, the RePA system tracks the location (or ring ofpossible locations) of the mobile device using localization techniqueson the mobile device and an associated key fob. Initially, the key fobpolling for the RePA system is off (that is, the RePA system does notcause the key fob polling; though another system, such as keyless entry,may independently instigate key fob polling). Using localizationtechniques on the signals from the mobile device, the RePA systemdetermines a region of probability representative of possible locationsof the mobile device based on the location determined by localizationand its associated error. The RePA system compares the region ofprobability to the boundary. When the region of probability is entirelyoutside of the boundary, the RePA system determines that the mobiledevice is outside of the boundary. When the region of probability isentirely inside the boundary, the RePA system determines that the mobiledevice is inside the boundary. When the boundary is partially within theregion of probability, the RePA system activates polling of the key foband determines the location of the key fob using localization. When thekey fob is within the boundary, the RePA system determines the mobiledevice is within the boundary.

As discussed below, the RePA system provides a visual indicator of themobile device's location relative to the location of the boundary. Insome examples, the visual indicator is a manipulation of brightness,color, and/or activation of the lights of the vehicle (e.g., the headlights, the tail lights, a light emitting diode (LED) strip, etc.).Additionally or alternatively, in some examples, the vehicle includesprojectors that project the boundary. In some such examples, theprojection changes based on the mobile device's location relative to thelocation of the boundary. The visual indicator has different outputswhen (a) the RePA system is active but the mobile device is not detectedby the RePA system, (b) the RePA system is active and the mobile deviceis outside the boundary, (c) the RePA system is active, the mobiledevice is inside the boundary, and the vehicle is in motion, (d) theRePA system is active, the mobile device is inside the boundary, and thevehicle is stationary, and (e) the RePA system is active and the mobiledevice is inside the boundary near the boundary (e.g., within 0.5 metersof the boundary, etc.).

FIGS. 1 and 2 illustrate a vehicle 100 operating in accordance with theteachings of this disclosure. The vehicle 100 may be a standard gasolinepowered vehicle, a hybrid vehicle, an electric vehicle, a fuel cellvehicle, and/or any other mobility implement type of vehicle. Thevehicle 100 includes parts related to mobility, such as a powertrainwith an engine, a transmission, a suspension, a driveshaft, and/orwheels, etc. The vehicle 100 is a semi-autonomous (e.g., some routinemotive functions controlled by the vehicle 100), or autonomous (e.g.,motive functions are controlled by the vehicle 100 without direct driverinput). The example vehicle 100 includes wireless nodes 102 and 104,occupant detection sensors 106, 108, and 110, proximity sensors 112,camera(s) 114, trajectory sensors 116, 118, and 122, lights 124 and 126,projector lamps 128, an on-board communication module (OBCM) 130, apowertrain control module (PTCU) 132, a body control module (BCM) 134,and/or an active safety module (ASM) 136.

The wireless nodes 102 and 104 include hardware (e.g., processors,memory, storage, antenna, etc.) and software to control wireless networkinterface(s). The wireless nodes 102 and 104 include a communicationcontroller for a personal or local area wireless network (e.g.,Bluetooth®, Bluetooth® Low Energy (BLE), Zigbee®, Z-Wave®, Wi-Fi®,etc.). In some examples, when the wireless nodes 102 and 104 areconfigured to implement BLE, the wireless nodes 102 and 104 may bereferred to as “BLE Antenna Modules (BLEAMs).” The wireless nodes 102and 104 communicatively couple to the mobile device 138 and measureand/or receive measurements of the signal strength of the signalsbroadcast by the mobile device 138. In some examples, the vehicle 100includes one or more internal wireless nodes 102 located inside a cabinof the vehicle 100. Alternatively or additionally, in some examples, thevehicle 100 includes one or more external wireless nodes 104 located onthe exterior of the vehicle 100. In some such examples, the externalwireless nodes 104 are located on a roof of the vehicle 100, on a hoodof the vehicle 100, at the rear of the vehicle 100, and/or proximate toone or more of doors 140 of the vehicle 100.

The occupant detection sensors 106, 108, and 110 are associated withparticular seats in the vehicle 100 and provide indicators of (a)whether a person is occupying the associated seat, and (b) whether theoccupancy of the associated seat has changed. The occupant detectionsensors 106, 108, and 110 include weight sensors 106, seat belt sensors108, and/or door angle sensors 110. Additionally, or alternatively, insome examples, the occupant detection sensors 106, 108, and 110 includedoor latch sensors and/or window position sensors and/or IR detectionsensors. The weight sensors 106 detect whether an associated seat isoccupied. The status of the weight sensor 106 changing from occupied tonon-occupied is indicative of the occupant of the associated seat havingexited the vehicle 100. The seat belt sensors 108 detect whether theseat belt associated with a particular seat is fastened. The status ofthe seat belt sensor 108 changing from fastened to un-fastened may beindicative of the occupant of the associated seat having exited thevehicle 100. The door angle sensors 110 detect the angle at which theassociated door 140 is opened. The door angle sensors 110 indicatingthat the door has transitioned from a closed position to an openposition sufficient for egress may be indicative of the occupant of theassociated seat having exited the vehicle 100.

The proximity sensors 112 detect when the mobile device 138 is proximateto the proximity sensors 112. In some examples, the proximity sensor 112is a module that wirelessly couples to the mobile device 138 at arelatively short range (e.g., an NFC module with a 10 cm range, a Qimodule with a 5-7 millimeters, etc.). Alternatively or additionally, insome examples, the proximity sensors 112 are wireless modules (e.g.,Bluetooth® modules, etc.) that detect that the mobile device 138 isproximate to the proximity sensor 112 by comparing the wireless signalstrength of signals from the mobile device 138 to a threshold calibratedto determine when the mobile device 138 is relatively close (e.g., 10mm, etc.) to the proximity sensor 112. In some such examples, theexternal wireless module(s) 104 also are configured to be the proximitysensors 112. For example, when one of the external wireless nodes 104 isinstalled in the handle of one of the doors 140, the external wirelessnodes 104 is configured to determine when the mobile device 138 iswithin 10 mm of the door handle. Alternatively, in some examples, theproximity sensors 112 are pressure sensors and/or switches that activatewhen the mobile device 138 is physically pressed against the proximitysensor 112. In some such examples, the proximity sensors 112 arepedestrian impact detection sensors. The pedestrian impact detectionsensors include a low force switch and high force switch are on/off celltype switches with different pressure activation thresholds and a linearpotentiometer. The pedestrian impact detection sensors detect an impactwidth, a position of impact, a duration of impact, and a magnitude ofimpact pressure.

The cameras 114 capture images and video of the area proximate to thevehicle 100. The cameras 114 include a forward-facing camera (e.g.,located on a back of rear-view mirror housing, etc.), a rear-viewcamera, and/or a 360° camera system. The 360° camera system includesmultiple cameras that have their respective captured images stitchedtogether to provide a view around the vehicle 100. For example, onecamera is in the middle of the front grille, two cameras areultra-wide-angle cameras on the side view mirrors, and a camera is abovea license plate of the vehicle 100.

The trajectory sensors 116, 118, and 122 measure the speed and/ordirection of travel of the vehicle 100. The trajectory of the vehicle100 is determinable using these measurement. The trajectory sensors 116,118, and 122 include a wheel speed sensors 116, a steering angle sensor118, and an rate sensors 122. The wheel speed sensors 116 are mounted onthe wheel assembly of each of the wheels to measure the rotational speedof the wheels. The steering angle sensor 118 is located in the steeringcolumn of the vehicle 100 and measures the steering wheel position angleand rate of turn. The rate sensors 122 include yaw sensors, rollsensors, pitch angle sensors, and/or accelerometers. The rate sensors122 measure the change in angle over time such as yaw angle rate, rollangle rate, or pitch angle rate of the vehicle 100. The rate sensorsalso 122 measures the accelerations on the vehicle 100. In someexamples, rate sensors 122 are incorporated into a restraint controlmodule and/or a traction control module.

The lights 124 and 126 include head lights and tail lights. Additionallyor alternatively, in some examples, the lights 124 and 126 includestrips of LED lights embedded into one or more sides of the body of thevehicle 100 so as to be visible by a person standing at least within theboundary of the RePA system. The lights 124 and 126 include multiplesettings that facilitate communication of different states of the RePAsystem. In some examples, the lights 124 and 126 are dimmable tofacilitate communication of the different states via the brightness ofthe lights 124 and 126. Alternatively or additionally, in some examples,the light 124 and 126 include multiple independently controllablesegments to facilitate communication of the different states via whichsegments are illuminated. For example, a vehicle 100 may include lights124 and 126 that are a strip of LEDs, where each LED in the strip isindependently controllable. In such an example, the state of the RePAsystem may be communicated by a number of LEDs that are illuminated.

The projector lamps 128 are lights that project an image on the groundin the vicinity of the vehicle 100. The projector lamps 128 are locatedon the vehicle 100 so that the projector lamps 128 project a visibleboundary line at the threshold distance for the RePA system (e.g., 6meters, etc.). For example, the projector lamps 128 may be at positionsproximate the vehicle badge on the front of the vehicle 100, on thebottom of a side view mirrors, and below the license plate on the rearof the vehicle 100. The projector lamps 128 include multi-color lights(e.g., multicolor LEDs, etc.) to facilitate the projector lamps 128projecting the boundary in different colors. Additionally, in someexamples, the projector lamps 128 have different luminosity settings(e.g., higher lumen output for daytime, lower lumen output fornighttime, etc.).

The on-board communication module 130 (sometimes referred to as a“telematics unit”) manages communication with the wireless nodes 102 and104 and/or the proximity sensors 112. Additionally, in some examples,the on-board communication module 130 includes wired or wireless networkinterfaces to enable communication with external networks. In some suchexamples, the on-board communication module 130 includes hardware (e.g.,processors, memory, storage, antenna, etc.) and software thatcommunicate via cellular networks (Global System for MobileCommunications (GSM), Universal Mobile Telecommunications System (UMTS),Long Term Evolution (LTE), Code Division Multiple Access (CDMA), etc.),wireless local area networks (WLAN) (including IEEE 802.11 a/b/g/n/ac orothers, dedicated short range communication (DSRC), visible lightcommunication (Li-Fi), etc.), and/or wide area networks (WirelessGigabit (IEEE 802.11ad), etc.). In some examples, the on-boardcommunication module 130 includes a wired or wireless interface (e.g.,an auxiliary port, a Universal Serial Bus (USB) port, a Bluetooth®wireless node, etc.) to communicatively couple with a mobile device(e.g., a smart phone, a smart watch, a tablet, etc.). In such examples,the vehicle 100 may communicate with the external network via thecoupled mobile device. The external network(s) may be a public network,such as the Internet; a private network, such as an intranet; orcombinations thereof, and may utilize a variety of networking protocolsnow available or later developed including, but not limited to,TCP/IP-based networking protocols.

The powertrain control module 132 includes hardware and firmware tocontrol the ignition, fuel injection, emission systems, transmissionand/or the brake system of the vehicle 100. The powertrain controlmodule 132 monitors sensors (such as fuel injection sensors, wheel speedsensors, exhaust sensors, etc.) and uses control algorithms to control,for example, fuel mixture, ignition timing, variable cam timing,emissions control, a fuel pump, an engine cooling fan and/or a chargingsystem. Additionally, the powertrain control module 132 monitors andcommunicates the measurements of the trajectory sensors 116, 118, and122. The powertrain control module 132 sends messages via a vehicle databus (e.g., via the vehicle data bus 1302 of FIG. 13) regarding the stateof the engine (e.g., running, idling, stopped, etc.).

The body control module 134 controls various subsystems of the vehicle100. For example, the body control module 134 may control power windows,power locks, an immobilizer system, and/or power mirrors, etc. The bodycontrol module 134 includes circuits to, for example, drive relays(e.g., to control wiper fluid, etc.), drive brushed direct current (DC)motors (e.g., to control power seats, power locks, power windows,wipers, etc.), drive stepper motors, and/or drive LEDs, etc. In someexamples, the body control module 134 is communicatively coupled to aremote keyless entry system 142 that receives signals from a key fob 144to control functions of the vehicle 100. The remote keyless entry system142 sends polling signals requesting the key fob 144 to measure thepolling signal strength between the vehicle 100 and the key fob 144 andto report back the polling signal strength to the remote keyless entrysystem 142. In the illustrated examples, the body control module 134includes a boundary monitor 146 that (a) tracks a distance (D) betweenthe mobile device 138 and/or the key fob 144 and the vehicle 100, (b)determines whether the mobile device 138 and/or or the key fob 144 arewithin the threshold distance to the vehicle 100 and (c) controlsvarious subsystems (e.g., the lights 124 and 126) of the vehicle 100based on that determination.

The boundary monitor 146 tracks when the last time the vehicle 100determined a fix of the mobile device 138. When the time elapsed sincethe last fix and/or a distance traveled since the last fix satisfiescorresponding thresholds, as discussed in connection with FIGS. 2, 3,4A, 4B, 5, 6, 15, 16, 17, 18, and 19 below, the boundary monitor 146obtains a new fix from the mobile device 138. The boundary monitor 146tracks the location of the mobile device 138 and/or the key fob 144using dead reckoning (e.g., receiving data from inertial sensors of themobile device 138, etc.) and/or localization techniques (e.g., via thewireless nodes 102 and 104, via the remote keyless entry system 142,etc.). As discussed in connection with FIGS. 7, 8A, 8B, 8C, 20, and 21below, the boundary monitor 146 tracks whether the mobile device 138and/or the key fob 144 are within the threshold distance (e.g., 6meters, etc.) that defines the boundary. The boundary monitor 146notifies the user of the location of the mobile device 138 and/or thekey fob 144 relative to the location of the boundary as discussed inconnection with FIGS. 9, 10A, 10B, 10C, 11A, 11B, 11C, 12A, 12B, 12C,and 22 below.

The active safety module 136 controls autonomous functions of thevehicle 100. More specifically, the active safety module 136 of theillustrated example includes a system to autonomously park and un-park avehicle 100 when an operator is outside of the vehicle (sometimereferred to as “remote parking,” “vehicle remote park-assist,” “remotepark-assist,” and “RePA”). For example, the RePA system of the activesafety module 136 controls the motive functions of the vehicle uponinitiation from the mobile device 138 to remotely park the vehicle intoa parking spot. The RePA system of the active safety module 136 usesrange detection sensors (e.g., ultrasonic sensors, radar, LiDAR,cameras, etc.) to sense the environment around a vehicle to detect aparking spot. When activated via the mobile device 138 that is withinthe boundary, the RePA system of the active safety module 136 plans andexecutes a path into or out of the parking spot. In some examples, theRePA system is activated by the operator and scans for an availableparking space. When a parking space is detected, the RePA systemsignals, via an interface (e.g., a center console display, etc.) for theoperator to stop near the detected parking spot. The operator then exitsthe vehicle 100. The RePA system of the active safety module 136 isactivated via the mobile devices 138 to autonomously maneuver thevehicle 100 into the parking spot according to the planned path. Whenthe mobile device 138 is outside of the boundary, the RePA system willnot autonomously move the vehicle 100. As discussed below, because thevehicle 100 is in motion during the remote parking maneuvers, theboundary moves with the vehicle 100. As such, the mobile device 138 may,for example, transition to be outside of the boundary even if the mobiledevice 138 is stationary.

FIG. 2 illustrates the vehicle 100 of FIG. 1 configured to determine aninitial location of the mobile device 138 when the mobile device 138exits the vehicle 100. The boundary monitor 146 detects (a) when themobile device 138 exits the vehicle 100, and (b) from which door 140 themobile device 138 exited the vehicle 100. Based on which door 140 themobile device 138 exited the vehicle 100 from, the mobile device 138assigns a location 202 on the vehicle 100 associated with that door 140as the initial location of the mobile device. The locations 202 may be,for example, the middle of the panel of the associated one of the doors140.

When the vehicle 100 includes multiple internal wireless nodes 102 andexternal wireless nodes 104 (e.g., the vehicle 100 includes aphone-as-a-key system, or a Bluetooth® Key Fob, etc.), the boundarymonitor 146 uses the signal strengths between the mobile device 138 andthe wireless nodes 102 and 104 to determine (i) when the mobile device138 exits the vehicle 100 (e.g., the mobile device 138 transitions frombeing internal to the vehicle 100 to external to the vehicle 100), and(ii) which side (e.g., driver's side, passenger's side, rear, etc.) ofthe vehicle 100 at which the mobile device 138 exited. To determinethrough which door 140 a mobile device 138 exited, the boundary monitor146 uses the measurements from the occupant detection sensors 106, 108,and 110 associated with the seats on the side of the vehicle 100determined via the signal strength analysis. For example, when themobile device 138 exits the vehicle 100 and the door angle sensor 110detects the front driver's side door open to an angle sufficient foregress, the boundary monitor 146 may determine that the that the mobiledevice 138 exited via the front driver's side door.

In some scenarios, multiple doors 140 may open at nearly the same time.In such examples, the boundary monitor 146 uses measurements frommultiple occupant detection sensors 106, 108, and 110 to determine whichdoor to associate with the mobile device 138. For example, if a door 140opens but the measurement from the corresponding weight sensor 106indicates that the corresponding seat is empty, the boundary monitor 146may illuminate that door 140 as the door 140 through which the mobiledevice 138 exited. Alternatively or additionally, when the boundarymonitor 146 detects the presence of multiple mobile devices paired withthe vehicle 100, the boundary monitor 146 uses timing of eventsassociated with the occupant detection sensors 106, 108, and 110 toassign a door to each mobile device.

Alternatively, in some examples, the vehicle 100 either does not includethe internal antenna(s) 102 and/or multiple external antennas 104 todistinguish which side of the vehicle 100 through which the mobiledevice 138 exited. In such examples, the boundary monitor 146 receives,via one of the wireless nodes 102 and 104, initial data from inertialsensors 204 (e.g., gyroscopes, accelerometers, etc.) of the mobiledevice 138. The boundary monitor 146 determines which side of thevehicle 100 through which the mobile device 138 exited based on theinertial data. For example, the inertial data may indicate that themobile device 138 moved towards the driver's side of the vehicle 100just before the rear driver's side door opened. In such an example, theboundary monitor 146 may determine that the mobile device 138 exited thevehicle 100 at the rear driver's side door.

In some examples, when multiple mobile devices are present in thevehicle 100, while the vehicle 100 is in motion, the boundary monitor146 assigns each mobile device a seat in the vehicle 100 based ondifferences in angular acceleration when the vehicle 100 turns. Examplesof assigned seats to the mobile devices are described in U.S. Pat. No.9,467,817, entitled “Determining Vehicle Occupant Location,” granted onOct. 11, 2016, which is herein incorporated by reference in itsentirety. Thus, when the mobile devices 138 is assigned to a seat, theboundary monitor 146 assigns the corresponding location 202 on the bodyof the vehicle 100 when that mobile device 138 exits the vehicle 100.

FIG. 3 illustrates the vehicle of FIG. 1 configured to determine aninitial location of a mobile device 138 using proximity sensors 112.When the mobile device 138 is in the vicinity of the vehicle 100 (e.g.,as determined though GPS coordinates and/or localization, etc.) and anew initial location of the mobile device is required (e.g., because thetime and/or distance traveled since the last determination exceeds athreshold, etc.), the boundary monitor 146 sends a message to acorresponding application executing on the mobile device 138 that causesthe mobile device 138 to instruct the operator to place the mobiledevice 138 within range of one of the proximity sensors 112. Theproximity sensors 112 represent a fixed reference point on the vehicle100. The proximity sensors are located on areas that are accessible tothe operator when the vehicle is parked in a narrow parking spot. In theillustrated example of FIG. 4A, one of the proximity sensors 112 islocated behind or integrated with a vehicle badge 402. Additionally, insome examples, some of the proximity sensors 112 are located on thehousing of side view mirrors 404 and/or one or more door handles of thevehicle 100. In the illustrated example of FIG. 4B, one of the proximitysensors 112 is located below a license plate area 406 of the vehicle100. Alternatively or additionally, in some examples, the proximitysensors 112 are integrated into the keyless entry keypad (e.g., locatedproximate to the B-pillar on the driver's side front door of the vehicle100, etc.).

In some examples, the RePA application on the mobile device 138 displaysthe location of the proximity sensors on an interface. In some examples,the active safety module 136 activates the RePA system upon detection ofthe authorized mobile device 138 proximate to one of the proximitysensors 112. In such examples, in response to bringing the mobile devicewithin range of the proximity sensors, the active safety module 136 (a)sends a message to automatically start a corresponding RePA applicationon the mobile device 138, (b) unlocks the corresponding RePA applicationon the mobile device 138 (e.g., in a system where acknowledgement fromthe active safety module 136 of the vehicle 100 is required to enableRePA functionality in the application executing on the mobile device138), (c) automatically presents the operator with a user default RePAstate, (d) causes the corresponding RePA application on the mobiledevice 138 to present the operator with available parking maneuveroptions, and/or (d) automatically starts the engine of the vehicle 100(e.g., via the powertrain control module 132, etc.).

In some examples, items of infrastructure (e.g., parking meters, firehydrants, light poles, etc.) may include infrastructure proximitysensors. The boundary monitor 146 determines the relative location ofthe item of infrastructure with reference to the vehicle 100 (e.g., viaimage analysis as discussed in connection with FIG. 5 below, etc.). Insome such examples, the boundary monitor 146 establishes communication(e.g., via the on-board communication module 130) with the item ofinfrastructure. In such examples, the item of infrastructure sends amessage when the user brings the mobile device 138 in proximity of theproximity sensors of the item of infrastructure. For example, a parkingmeter may include an NFC contactless payment system that, whenprocessing payment via the mobile device 138, sends a message via DSRCor WLAN to the vehicle 100 using information (e.g., vehicle identifier,temporary password to access the WLAN, etc.) in a user profileassociated with a payment account and/or transmitted by the mobiledevice 138. In such examples, the boundary monitor 146 determines therelative location of the mobile device 138 by determining the relativelocation of the parking meter via image analysis or by determining whichparking space the vehicle 100 is parked in and receiving a distance,from the parking meter, between the parking space and the parking meter.

FIG. 5 illustrates the vehicle 100 of FIG. 1 configured to determine aninitial location of the mobile device 138 using image recognition. FIG.6 illustrates the mobile device executing a RePA application 602 that isin communication with the boundary monitor 146. The boundary monitor 146communicatively couples with the mobile device 138 and instructs theoperator to perform a specific action via the corresponding RePAapplication 602 executing on the mobile device 138. In some examples,the boundary monitor 146 instructs the operator to hold the mobiledevice 138 perpendicular to the longitudinal axis of the vehicle 100 inview of one of the cameras 114. The boundary monitor 146 takes an imageof the mobile device 138. In some such examples, the body control module134 includes a database of mobile device specifications 502 in memory(e.g., the memory 1306 of FIG. 13 below) that contains specifications(e.g., height, width, location and size of front and/or rear cameras,etc.) of mobile devices associated (e.g., paired, etc.) with the vehicle100. For example, the database 502 may include a record for the mobiledevice 138 that indicates that the mobile device 138 is 17.75 cm×7.62 cm(6.2 inches×3 inches). From time-to-time, in such examples, the boundarymonitor 146 manages (e.g., receives updates from an external network,removes old or out-of-date records, etc.) the database of mobile devicespecifications 502. Using the database of mobile device specifications502 and/or specifications provided when the corresponding RePAapplication is installed on the mobile device 138, the boundary monitor146 determines the relative location of the mobile device 138 based onthe scale difference between the dimensional measurements of the mobiledevice 138 in the captured image and the reference dimensionalmeasurements in the database of mobile device specifications 502. Insome examples, the boundary monitor 146 uses dimensions of a particularfeature 604 (such as a screen size, a mobile device camera size, etc.)In some examples, the RePA application executing on the mobile device138 displays an image 606 of known dimensions (such as a logo or a QuickResponse (QR) code, etc.). In such examples, the boundary monitor 146compares the dimensions of the image 606 in the captured image to theexpected dimensions of the image 606 based on a size and/or resolutionof the screen of the mobile device 138.

In some examples, the boundary monitor 146 instructs the user to capturean image of a certain feature of the vehicle (e.g., a license plateframe, a sicker affixed the vehicle, etc.) with the mobile device 138.In such examples, the boundary monitor 146 determines the relativelocation of the mobile device 138 based on differences in dimensionalmeasurements of the feature in the captured image and referencedimensional measurements of the feature. For example, the vehicle 100may have a graphical feature 504 (e.g., as a sticker, as part of a paintpattern, etc.) on the front and/or rear of the vehicle 100. In someexamples, the graphical feature 504 is a code (e.g., a QR code, a barcode, etc.) that is composed on an ultraviolet (UV) material that isonly visible under UV light. In such examples, the vehicle 100 includesan UV light that, when illuminated, causes the UV graphical feature 504to become visible.

In some examples, the boundary monitor 146 instructs the operator topoint a flash 608 of the mobile device 138 at the camera 114 of thevehicle 100. In some such examples, the boundary monitor 146communicates with the mobile device 138 using a form of visible lightcommunication, such as Li-Fi. In some such example, the boundary monitor146 determines the distance to the mobile device 138 based on a measuredlight intensity of the flash 608 compared to an expected lightintensity. In some such examples, the RePA application 602 communicatesthe expected light intensity of the flash 608 to the boundary monitor146. In some examples, the mobile device 138 repeats a pattern ofdifferent predetermined light intensities of the flash 608. Thepredetermined light intensities are light intensities that both theboundary monitor 146 and the RePA application 602 are configured toexpect. In such examples, the boundary monitor 146 determines thedistance between the vehicle 100 and the mobile device 138 by analyzingthe difference between the captured light intensities and thepredetermined light intensities. For example, the mobile device maystep-wise increase the brightness of its flash 608 from 0% to 100% in atimeframe established between the mobile device 138 and the boundarymonitor 146.

In some examples, the boundary monitor 146 uses multiple techniquesdiscussed above in connection to FIGS. 5 and 6 to determine the relativelocation of the mobile device 138 to the vehicle 100. In some suchexamples, the distance estimates are combined (e.g., averaged, weightedaveraged, etc.). For example, the boundary monitor 146 may capture animage of the mobile device 138 and receive an image captured by themobile device 138. In such an example, the boundary monitor 146 maycalculate a first estimate based on the image captured by the camera 114of the vehicle 100 and calculate a second estimate based on the imagereceived from the mobile device 138. In such an example, the boundarymonitor 146 may average the first and second estimates to determine thedistance between the mobile device 138 and the vehicle 100.

FIG. 7 illustrates the vehicle 100 of FIG. 1 configured to determinewhen the mobile device 138 is within range of the vehicle 100 (e.g., iswithin the boundary 702) using trajectory data. The boundary monitor 146uses the mobile device 138 and a key fob 144 to determine the locationof the mobile device 138 relative to the location of the vehicle 100.Generally, the key fob 144 communicates with the vehicle 100 at a lowerfrequency (e.g., 315 MHz to 902 MHz) than the mobile device 138 (e.g.,2.4 GHz). Additionally, the key fob polling signal is a low frequencysignal (e.g., 125 kHz, etc.). As such, localization techniques using thekey fob 144 signal strength are generally more accurate than thelocalization using the signal strength of the mobile device 138. Becausethe key fob 144 has a limited battery, the boundary monitor 146conserves power use of the key fob 144 by disabling and/or changing theintervals between polling signals and instead uses polling from themobile device 138 when the increased accuracy of the polling signal fromthe key fob 144 is not necessary. The boundary monitor 146 uses thetrajectory of the mobile device 138 and the trajectory of the vehicle100 to determine when to use the key fob 144 polling signal and whichpolling interval to use.

The boundary monitor 146 determines the trajectory (e.g., the speed andthe direction) of the vehicle 100 based on measurement from one or moreof the trajectory sensors 116, 118, and 122. The RePA application 602 onthe mobile device 138 sends measurements from the inertial sensors 204to the boundary monitor 146. The boundary monitor 146 determines thetrajectory of the mobile device 138 based on measurements received fromthe mobile device 138. The boundary monitor 146 determine whether thelocation of the vehicle 100 and the location of the mobile device 138are converging (e.g., getting closer) or diverging (e.g., gettingfarther away). Using localization techniques, the boundary monitor 146determines a region of probability 706 for the operator. The region ofprobability 706 represents an area that contains the location of theoperator taking into account the localization error of triangulation ortrilateration via signal strengths of the mobile device 138 and/or thekey fob 144. For example, the region of probability 706 may be definedby a point 7 meters from the vehicle (estimated with the localizationtechnique) with a 0.25 meter radius of error. Using signal strengthmeasurements from the key fob 144 makes the region of probability 706smaller compared to using signal strength measurements from the mobiledevice 138.

The boundary 702 is defined by the threshold distance between thevehicle 100 and the mobile device 138 at which the RePA system is tooperate. For example, the boundary 702 may be 6 meters from each pointon the outer surface of the vehicle 100. When the region of probability706 is entirely within the boundary 702 and the distance between thevehicle 100 and the mobile device 138 is decreasing, the boundarymonitor 146 decreases or suspends the interval of polling the key fob144. In such a scenario, because the location of the mobile device 138and the vehicle 100 are converging within the boundary 702, the mobiledevice 138 will not exit the boundary 702 and thus precisely trackingthe location of the mobile device 138 is less important. When the regionof probability 706 is within the boundary 702 and the distance betweenthe vehicle 100 and the mobile device 138 is increasing, the boundarymonitor 146 resumes the key fob polling if it has been suspended andincreases the polling interval as the vehicle 100 moves further awayfrom the mobile device 138. In such a manner, the boundary monitor 146more quickly detects if the mobile device 138 moves out of range.

In some examples, the boundary monitor 146 changes the polling intervalfor the key fob 144 as a function of relative velocity of the vehicle100 with reference to the mobile device 138. For example, the boundarymonitor 146 may increase the polling interval to be greater the fasterthe relative velocity of the vehicle 100 is with reference to the mobiledevice 138. In such an example, the polling interval is increasedbecause the mobile device 138 may leave the boundary 702 quicker whenthe relative velocity of the vehicle 100 with reference to the mobiledevice 138 is faster, and, thus increasing frequency of estimating thelocation of the mobile device 138 facilitates more quickly determiningwhen the mobile device 138 crosses the boundary 702.

FIGS. 8A, 8B, and 8C illustrate the vehicle 100 of FIG. 1 configured todetermine when the mobile device 138 is within range of the vehicle 100(e.g., within the boundary 702) using region of probability 706. Theboundary monitor 146 tracks the regions of probability 706 of thelocation of the mobile device 138 using localization techniques on themobile device 138 and the key fob 144. In the illustrated example ofFIGS. 8A, 8B, and 8C, the vehicle 100 may only include one externalwireless node 104 and, as a consequence, the boundary monitor 146 tracksa distance that the mobile device 138 and/or key fob 144 is from thevehicle 100. In such examples, the region of probability 706 encompassesa ring around the vehicle 100. Initially, the polling of the key fob 144is deactivated to conserve the battery life of the key fob 144.

The boundary monitor 146 compares the region of probability 706 to theboundary 702. The boundary monitor 146 calculates the region ofprobability 706 using signals from the mobile device 138. Generally, theregion of probability 706 encompasses a larger band of area the fartherthe mobile device 138 is from the vehicle 100. The boundary monitor 146reacts depending on the relationship between the region of probability706 to the boundary 702. FIG. 8A illustrates the region of probability706 entirely inside of the boundary 702. When the region of probability706 is entirely inside of the boundary 702, the boundary monitor 146determines that the mobile device 138 is inside of the boundary 702without instructing the key fob 144 to begin sending its signal strengthmeasurement of the polling signals. FIG. 8B illustrates the region ofprobability 706 entirely outside of the boundary 702. When the region ofprobability 706 is entirely outside of the boundary 702, the boundarymonitor 146 determines that the mobile device 138 is outside of theboundary 702 without initiating the key fob 144 polling or instructingthe key fob 144 to begin assessing a polling signal.

FIG. 8C illustrates the boundary 702 within the region of probability706. When the boundary 702 is within the region of probability 706, theboundary monitor 146 instructs the key fob 144 to send its signalstrength measurement of the polling signals. The boundary monitor 146determines a location 802 (or a radius of locations) for the key fob144. When the location 802 is within the boundary 702, the boundarymonitor 146 determines that the mobile device 138 is inside of theboundary 702. When the location 802 is not within the boundary 702, theboundary monitor 146 determines that the mobile device 138 is outside ofthe boundary 702. The boundary monitor 146 continues to monitor theregion of probability 706. When the region of probability 706 isentirely outside of the boundary 702, the boundary monitor 146 stopspolling the keyfob and/or instructs the key fob 144 to stop assessingpolling signals. Additionally, when the region of probability 706 isentirely inside of the boundary 702, the boundary monitor 146 stopspolling the key fob 144 or instructs the key fob 144 to stop assessingthe polling signal.

FIG. 9 illustrates the vehicle 100 of FIG. 1 configured to visuallyindicate when the mobile device 138 is within range of the vehicle 100.The boundary monitor 146 determines the relative locations of the mobiledevice 138 to the vehicle 100 and signals using the lights 124 and 126and/or the projector lamps 128 of the vehicle 100. The boundary monitor146 provides a different visual indication based on (a) the relativelocations of the mobile device 138 to the vehicle 100, (b) the motion ofthe vehicle 100, and/or (c) the state of the RePA system, etc. Theboundary monitor 146 provides the different visual indications when (i)the RePA system is active but the mobile device 138 is not detected bythe boundary monitor 146, (ii) the RePA system is active and the mobiledevice 138 is outside the boundary 702, (iii) the RePA system is active,the mobile device 138 is inside the boundary 702, and the vehicle 100 isin motion, (iv) the RePA system is active, the mobile device 138 isinside the boundary 702, and the vehicle 100 is stationary, and (v) theRePA system is active and the mobile device 138 is inside the boundary702 but near the edge of the boundary 702 (e.g., within 0.5 meters ofthe boundary 702, etc.).

In the illustrated example of FIG. 9, the boundary monitor 146 controlsthe projector lamps 128 to project a representation 902 of the boundary702. The projector lamps 128 are configured to project therepresentation 902 substantially proximate to the location of theboundary 702. The boundary monitor 146 varies different aspects of thelights 124 and 126 and/or the projector lamps 128 to change the visualindicators presented by the vehicle 100. In some examples, the boundarymonitor 146 varies the interior and/or exterior lights. In someexamples, the boundary monitor 146 varies colors of the lights 124 and126 and/or the representation 902 of the boundary 702 projected by theprojector lamps 128. For example, the boundary monitor 146 may cause thelights 124 and 126 and/or the projector lamps 128 to have a green tintthat fades into a yellow tint and eventually into a red tint as therelative distance between the vehicle 100 and mobile device 138increases to be within the boundary 702, near the interior of theboundary 702, and outside the boundary 702 respectively. In someexamples, the boundary monitor 146 causes the lights 124 and 126 and/orthe projector lamps 128 to vary in brightness. For example, the boundarymonitor 146 causes the lights 124 and 126 and/or the projector lamp 128to be at 100% intensity when the mobile device 138 is next to thevehicle 100 and fade to 0% as the mobile device 138 crosses the boundary702 to the outside of the boundary 702. In some examples, the boundarymonitor 146 causes the representation 902 to be animated based on thelocation of the mobile device 138 with respect to the location of thevehicle 100. For example, the representation 902 may blink and/or spinwith a speed that is proportional to the distance between the mobiledevice 138 and the vehicle 100.

As an example, when the RePA system is activated but the mobile device138 is not detected by the boundary monitor 146, the boundary monitor146 may cause the lights 124 and 126 and/or the projector lamp 128 tohave a blinking red tint. As another example, when the RePA system isactivated and the mobile device 138 is outside the boundary 702, theboundary monitor 146 may cause the lights 124 and 126 and/or theprojector lamp 128 to have a solid red tint. As another example, whenthe RePA system is activated, the mobile device 138 is inside theboundary 702, and the vehicle 100 is in motion, the boundary monitor 146may cause the lights 124 and 126 and/or the projector lamp 128 to have ablinking green tint. As another example, when the RePA system isactivated, the mobile device 138 is inside the boundary 702, and thevehicle 100 is stationary, the boundary monitor 146 may cause the lights124 and 126 and/or the projector lamp 128 to have a solid green tint. Asanother example, when the RePA system is activated and the mobile device138 is inside the boundary 702 but near the edge of the boundary 702,the boundary monitor 146 may cause the lights 124 and 126 and/or theprojector lamp 128 to have a yellow tint.

In some examples, when the mobile device 138 is within the boundary 702,the interior cabin lighting and the lights 124 and 126 are at full lightoutput and the projector lamp 128 projects the representation 902 of theboundary 702 as a solid green line. In some such examples, when themobile device 138 is within the boundary 702 and the vehicle 100 is inmotion, the representation 902 of the boundary 702 is animated toindicate the direction of travel. For example, the representation 902 ofthe boundary 702 may be animated such as a dashed representation 902 ofthe boundary 702 where the dashes move in the direction the vehicle 100is turning and/or moving. In some such examples, when the mobile device138 is within the boundary 702 and near the edge of the boundary 702,the lights 124 and 126 flash in a pattern and the representation 902 ofthe boundary 702 is animated as a dashed line that fades in and out.

FIGS. 10A, 10B, and 10C illustrate a method to vary the lights 124 ofthe vehicle 100 based on the location of the mobile device 138 relativeto the location of the vehicle 100. The example lights 124 include aback-lit badge 1002 and headlights 1004. The back-lit badge 1002illuminates when a lamp or LED behind the back-lit badge 1002illuminates. The headlights 1004 include an LED strip 1006 and mainlights 1008. In the illustrated example, the LED strip 1006 runs alongtwo sides of the main lights 1008. Alternatively, in some examples, theLED strip 1006 runs along three or four sides of the main lights 1008.For example, when the main lights 1008 are a circular assembly, the LEDstrip 1006 may encircle the main lights 1008. The back-lit badge 1002,the LED strip 1006, and the main lights 1008 are separatelycontrollable. In some example, the LEDs of the LED strip 1006 areseparately controllable so that LED strip 1006 is configurable todisplay different patterns of LEDs. The boundary monitor 146 controlsthe back-lit badge 1002, the LED strip 1006, and the main lights 1008 toprovide the visual indicator to the operator.

In FIG. 10A, the back-lit badge 1002 is lit and the LED strip 1006 andthe main lights 1008 are unlit. For example, the boundary monitor 146may provide the visual indicator of FIG. 10A when the RePA system isactivated and mobile device 138 is outside of the boundary 702. In FIG.10B, the back-lit badge 1002 and the LED strip 1006 are lit and the mainlights 1008 are unlit. For example, the boundary monitor 146 may providethe visual indicator of FIG. 10B when the RePA system is activated,mobile device 138 is inside of the boundary 702 near the edge of theboundary 702. In FIG. 10C, the back-lit badge 1002, the LED strip 1006,and the main lights 1008 are lit. For example, the boundary monitor 146may provide the visual indicator of FIG. 10C when the RePA system isactivated, mobile device 138 is inside of the boundary 702.

FIGS. 11A, 11B, and 11C illustrate a method to vary the lights 126 ofthe vehicle 100 based on the location of the mobile device 138 relativeto the location of the vehicle 100. In the illustrated examples, thelights 126 include a light strip 1102 that runs across a length of therear of the vehicle 100, a side light 1104, and a main taillight 1106.The light strip 1102, the side light 1104, and the main taillight 1106are separately controllable. In some examples, the light strip 1102includes separately controllable segments that can be configured toilluminate the light strip 1102 in different patterns.

In FIG. 11A, the light strip 1102 is lit and the side light 1104 and themain taillight 1106 are unlit. For example, the boundary monitor 146 mayprovide the visual indicator of FIG. 11A when the RePA system isactivated and mobile device 138 is outside of the boundary 702. In FIG.11B, the light strip 1102 and the side lights 1104 are lit and the maintaillights 1106 are unlit. For example, the boundary monitor 146 mayprovide the visual indicator of FIG. 11B when the RePA system isactivated, mobile device 138 is inside of the boundary 702 near the edgeof the boundary 702. In FIG. 11C, the light strip 1102, the side lights1104, and the main taillights 1106 are lit. For example, the boundarymonitor 146 may provide the visual indicator of FIG. 11C when the RePAsystem is activated, mobile device 138 is inside of the boundary 702.

FIGS. 12A, 12B, and 12C illustrate the lights 126. In the illustratedexamples, the lights 126 include an array of LEDs 1202. The array ofLEDs 1202 may be embedded into a tailgate, a liftgate, or a trunk of thevehicle 100. Each element of the array of LEDs 1202 includes one or moreLEDs. In some examples, the element of the array of LEDs 1202 includemulti-color LEDs. Additionally, each element of the array of LEDs 1202is individually controllable to facilitate different patterns beingdisplayed based on the location of the mobile device 138 relative to thelocation of the vehicle 100.

In FIG. 12A, a portion of the array of LEDs 1202 is lit. For example,the boundary monitor 146 may provide the visual indicator of FIG. 12Awhen the RePA system is activated and mobile device 138 is outside ofthe boundary 702. In FIG. 12B, a larger portion of the array of LEDs1202 is lit. For example, the boundary monitor 146 may provide thevisual indicator of FIG. 12B when the RePA system is activated, mobiledevice 138 is inside of the boundary 702 near the edge of the boundary702. In FIG. 12C, all of the LEDs in the array of LEDs 1202 are lit. Forexample, the boundary monitor 146 may provide the visual indicator ofFIG. 12C when the RePA system is activated, mobile device 138 is insideof the boundary 702.

FIG. 13 is a block diagram of electronic components 1300 of the vehicle100 of FIG. 1. In the illustrated example, the electronic components1300 include the wireless nodes 102 and 104, the occupant detectionsensors 106, 108, and 110, the proximity sensors 112, the camera(s) 114,the trajectory sensors 116, 118, and 122, the lights 124 and 126, theprojector lamps 128, the on-board communication module 130, thepowertrain control module 132, the body control module 134, the activesafety module 136, and a vehicle data bus 1302.

In the illustrated example, the body control module 134 includes aprocessor or controller 1304 and memory 1306. In some examples, theactive safety module 136 also includes a processor or controller andmemory. In the illustrated example, the body control module 134 isstructured to include boundary monitor 146. Alternatively, in someexamples, the active safety module 136 is structured to include boundarymonitor 146. The processor or controller 1304 may be any suitableprocessing device or set of processing devices such as, but not limitedto: a microprocessor, a microcontroller-based platform, a suitableintegrated circuit, one or more field programmable gate arrays (FPGAs),and/or one or more application-specific integrated circuits (ASICs). Thememory 1306 may be volatile memory (e.g., RAM, which can includenon-volatile RAM, magnetic RAM, ferroelectric RAM, and any othersuitable forms); non-volatile memory (e.g., disk memory, FLASH memory,EPROMs, EEPROMs, non-volatile solid-state memory, etc.), unalterablememory (e.g., EPROMs), read-only memory, and/or high-capacity storagedevices (e.g., hard drives, solid state drives, etc). In some examples,the memory 1306 includes multiple kinds of memory, particularly volatilememory and non-volatile memory. In the illustrated example, the memory1306 stores the database of mobile device specifications 502.

The memory 1306 is computer readable media on which one or more sets ofinstructions, such as the software for operating the methods of thepresent disclosure can be embedded. The instructions may embody one ormore of the methods or logic as described herein. In a particularembodiment, the instructions may reside completely, or at leastpartially, within any one or more of the memory 1306, the computerreadable medium, and/or within the processor 1304 during execution ofthe instructions.

The terms “non-transitory computer-readable medium” and “tangiblecomputer-readable medium” should be understood to include a singlemedium or multiple media, such as a centralized or distributed database,and/or associated caches and servers that store one or more sets ofinstructions. The terms “non-transitory computer-readable medium” and“tangible computer-readable medium” also include any tangible mediumthat is capable of storing, encoding or carrying a set of instructionsfor execution by a processor or that cause a system to perform any oneor more of the methods or operations disclosed herein. As used herein,the term “tangible computer readable medium” is expressly defined toinclude any type of computer readable storage device and/or storage diskand to exclude propagating signals.

The vehicle data bus 1302 communicatively couples the on-boardcommunication module 130, the powertrain control module 132, the bodycontrol module 134, and/or the active safety module 136, etc. In someexamples, the vehicle data bus 1302 includes one or more data buses. Thevehicle data bus 1302 may be implemented in accordance with a controllerarea network (CAN) bus protocol as defined by International StandardsOrganization (ISO) 11898-1, a Media Oriented Systems Transport (MOST)bus protocol, a CAN flexible data (CAN-FD) bus protocol (ISO 11898-7)and/a K-line bus protocol (ISO 9141 and ISO 14230-1), and/or anEthernet™ bus protocol IEEE 802.3 (2002 onwards), etc.

FIG. 14 is a flowchart of a method to perform remote assisted parking,which may be implemented by the electronic components 1300 of FIG. 13.Initially, at block 1402, the boundary monitor 146 waits until the RePAsystem of the active safety module 136 is enabled. In some examples, theRePA system is enabled remotely via the RePA application executing onthe mobile device 138. Alternatively or additionally, in some examples,the RePA system is enabled via an interface (e.g., a touch screeninterface) of an infotainment system. Additionally or alternatively, insome examples, the RePA system is enabled when the mobile device 138communicatively couples with one of the proximity sensors 112. At block1404, the boundary monitor 146 determines whether a significant amountof time has passed or the mobile device 138 has traveled a significantdistance since the last location fix. In some examples, the boundarymonitor 146 determines that a significant time has passed when it hasbeen over 15 minutes since the last location fix. In some examples, theboundary monitor 146 determines that a significant distance has beentraveled when the mobile device travels more than 18 meters. When asignificant time has passed or a significant distance has been traveled,the method continues to block 1406. Otherwise, when a significant timehas not passed and a significant distance has not been traveled, themethod continues at block 1408. At block 1406, the boundary monitor 146determines a current location of the mobile device 138. Example methodsof obtaining the current location of the mobile device 138 are disclosedin connection with FIGS. 15, 18, and 19 below. At block 1408, theboundary monitor 146 tracks the location of the mobile device 138 usingdead reckoning and/or localization techniques.

At block 1410, the boundary monitor 146 determines whether the mobiledevice 138 has sent a park or un-park request. When the mobile device138 has sent a park or un-park request, the method continues at block1412. Otherwise, when the mobile device 138 has not sent a park orun-park request, the method continues at block 1426. At block 1412, theboundary monitor 146 tracks the location of the mobile device 138 usingdead reckoning and/or localization techniques. At block 1414, theboundary monitor 146 determines whether the mobile device 138 is withina threshold distance (e.g., is inside the boundary 702) of the vehicle100. Example methods of determining whether the mobile device 138 iswithin a threshold distance of the vehicle 100 are disclosed inconnection with FIGS. 20 and 21 below. At block 1416, the boundarymonitor 146 notifies the user of the distance between the mobile device138 and the vehicle 100 and/or the relationship of the mobile device 138to the boundary 702. An example method to notify the user is disclosedin connection with FIG. 22 below. At block 1418, the boundary monitor146 determines whether the mobile device 138 is within the boundary 702.When the mobile device 138 is within the boundary 702, the methodcontinues at block 1420. Otherwise, when the mobile device 138 is notwithin the boundary 702, the method returns to block 1412.

At block 1420, the boundary monitor 146 enables the RePA system to movethe vehicle 100 along a path to park or un-park the vehicle 100. Atblock 1422, the boundary monitor 146 determines whether the vehicle 100is at a final position. For example, the boundary monitor 146 maydetermine whether the vehicle 100 is parked in the target parking space.As another example, the boundary monitor 146 may determine the vehiclehas returned to a pre-parked position. When the vehicle 100 is at thefinal position, the method continues at block 1424. Otherwise, when thevehicle 100 is not at the final position, the method returned to block1412.

At block 1424, the boundary monitor 146 tracks the location of themobile device 138 using dead reckoning and/or localization techniques.At block 1426, the boundary monitor 146 determines whether the mobiledevice 138 is in the vicinity of the vehicle 100. For example, theboundary monitor 146 may determine that the mobile device 138 is in thevicinity of the vehicle 100 when the mobile device within 18 meters ofthe vehicle 100. When the mobile device 138 is within the vicinity ofthe vehicle 100, the method returns to block 1404. Otherwise, when themobile device 138 is not within the vicinity of the vehicle 100, themethod returns to block 1424.

FIG. 15 is a flowchart of a method to determine an initial location ofthe mobile device 138 when the mobile device 138 exits the vehicle 100,which may be implemented by the electronic components 1300 of FIG. 13.At block 1502, the boundary monitor 146 detects when the mobile device138 exits the vehicle 100 and determines a location, relative to thevehicle 100, wherein the mobile device 138 exits the vehicle 100.Example methods to detect when the mobile device 138 exits the vehicle100 and determine a location, relative to the vehicle 100, wherein themobile device 138 exits the vehicle 100 are disclosed in connection withFIGS. 16 and 17 below. At block 1504, the boundary monitor 146 sets theinitial location of the mobile device 138 to the location determined atblock 1502. At block 1506, the boundary monitor 146 tracks the locationof the mobile device 138 using dead reckoning and/or localizationtechniques.

FIG. 16 is a flowchart of a method to determine an initial location ofthe mobile device 138 using localization techniques, which may beimplemented by the electronic components 1300 of FIG. 13. Initially, atblock 1602, the boundary monitor 146 uses localization techniques withthe internal wireless nodes 102 and the external wireless nodes 104 todetermine the location of the mobile device 138 relative to the cabin ofthe vehicle 100 (e.g., inside the cabin or outside the cabin). At block1604, the boundary monitor 146 determines whether the mobile device 138exits the vehicle 100. When the mobile device 138 exits the vehicle 100,the method continues at block 1606. Otherwise, then the mobile device138 remains in the vehicle 100, the method returns to block 1602.

At block 1606, the boundary monitor 146 using localization techniqueswith the internal wireless nodes 102 and the external wireless nodes 104to determine which side of the vehicle 100 the mobile device 138 exited.At block 1608, the boundary monitor 146 determines a probability foreach door 140 on the side of the vehicle 100 the mobile device 138exited based on the signal strengths between the mobile device 138 andeach of the external wireless nodes 104. At block 1610, the boundarymonitor 146 modifies the probabilities based on measurements from one ormore of the occupant detection sensors 104, 106 and 108. At block 1612,the boundary monitor 146 selects one of the doors 140 based on themodified probabilities. For example, when the mobile device 138 exitsthe passenger's side of the vehicle 100 in a timeframe that coincideswith the back passenger's side door opening and closing, the boundarymonitor 146 may select the back passenger's side door as the most likelydoor through which the mobile device 138 exited. At block 1614, theboundary monitor 146 sets a location 202 associated with the selecteddoor 140 to be the current location of the mobile device 138.

FIG. 17 is a flowchart of a method to determine an initial location ofthe mobile device 138 using inertial sensors 204 of the mobile device138, which may be implemented by the electronic components 1300 of FIG.13. Initially, at block 1702, the boundary monitor 146 determines arelative location of the mobile device 138 inside the vehicle 100 basedon measurements of the inertial sensors 204 of the mobile device 138(e.g., received via the internal wireless node 102, etc.). At block1704, the boundary monitor 146 track the movement of the mobile device138 inside the vehicle 100 based on measurements of the inertial sensors204 of the mobile device 138. At block 1706, the boundary monitor 146determines whether the data from the inertial sensors 204 of the mobiledevice 138 is indicative of the mobile device 138 exiting the vehicle100. For example, the data from the inertial sensors 204 of the mobiledevice 138 may show movement in a direction greater than a width of theinterior of the vehicle 100 or may indicate by the vertical movement ofthe mobile device 138 that the user moved in a pattern suggestive ofexiting the vehicle 100. When the data from the inertial sensors 204 ofthe mobile device 138 is indicative of the mobile device 138 exiting thevehicle 100, the method continues at block 1708. Otherwise, when thedata from the inertial sensors 204 of the mobile device 138 is notindicative of the mobile device 138 exiting the vehicle 100, the methodreturns to block 1702.

At block 1708 the boundary monitor 146 uses the data from the inertialsensors 204 of the mobile device 138 to determine which side of thevehicle 100 the mobile device 138 exited. At block 1710, the boundarymonitor 146 determines a probability for each door 140 on the side ofthe vehicle 100 the mobile device 138 exited based on measurements fromone or more of the occupant detection sensors 104, 106 and 108. At block1712, the boundary monitor 146 selects one of the doors 140 based on theprobabilities. At block 1714, the boundary monitor 146 sets a location202 associated with the selected door 140 to be the current location ofthe mobile device 138.

FIG. 18 is a flowchart of a method to determine an initial location ofthe mobile device 138 using the proximity sensors 112, which may beimplemented by the electronic components 1300 of FIG. 13. Initially, atblock 1802, the boundary monitor 146 establishes communication with themobile device 138. At block 1804, the boundary monitor 146 instructs theuser, via the corresponding application executing on the mobile device138, to make contact with one of the proximity sensors 112. At block1806, the boundary monitor 146 waits until the mobile device 138 makescontact with one of the proximity sensors 112. At block 1808, theboundary monitor 146 sets the current location of the mobile device 138to the location of the contacted proximity sensor 112.

FIG. 19 is a flowchart of a method to determine an initial location ofthe mobile device 138 using image analysis techniques, which may beimplemented by the electronic components 1300 of FIG. 13. Initially, atblock 1902, the boundary monitor 146 establishes communication with themobile device 138. At block 1904, the boundary monitor 146 instructs theuser, via the corresponding application executing on the mobile device138, to perform an action. In some examples, the boundary monitor 146instructs the operator to hold the mobile device 138 perpendicular tothe longitudinal axis of the vehicle in view of one of the cameras 114.In some examples, boundary monitor 146 instructs the user to capture animage of a certain feature of the vehicle (e.g., a license plate frame,a sicker affixed the vehicle, etc.) with the mobile device 138. In someexamples, boundary monitor 146 instructs the operator to point a flash608 of the mobile device 138 at the camera 114 of the vehicle 100. Atblock 1906, the boundary monitor 146 waits until the mobile device 138performs the action. At block 1908, the boundary monitor 146 (a)captures, with the camera 114, an image of the mobile device 138, (b)captures an intensity of the flash 608 of the mobile device 138, and/or(c) receives an image from the mobile device 138. At block 1910, theboundary monitor 146 determines the initial location of the mobiledevice based on an analysis of the captured image(s).

FIG. 20 is a flowchart of a method to determine whether the mobiledevice 138 is within a distance of the vehicle 100 based on comparingtrajectories of the mobile device 138 and the vehicle 100, which may beimplemented by the electronic components 1300 of FIG. 13. Initially, atblock 2002, the boundary monitor 146 estimates the distance from thevehicle 100 to the mobile device 138 within a region of probability 706.At block 2004, the boundary monitor determines whether the region ofprobability 706 is within a threshold distance (e.g., within theboundary 702) of the vehicle 100. When the region of probability 706 iswithin the boundary 702, the method continues at block 2006. Otherwise,when the region of probability 706 is not within the boundary 702, themethod returns to block 2002.

At block 2006, the boundary monitor 146 activates the key fob polling atan initial polling interval. At block 2008, the boundary monitor 146estimates the distance from the vehicle 100 to the key fob 144. At block2010, the boundary monitor 146 determines whether the key fob 144 iswithin the boundary 702. When the key fob 144 is within the boundary702, the method continues at block 2012. Otherwise, the method continuesat block 2020. At block 2012, the boundary monitor 146 calculates atrajectory of the vehicle 100 based on measurements from one or more ofthe trajectory sensors 116, 118, and 122. The boundary monitor 146 alsocalculates the trajectory of the mobile device 138 based on measurementsof the inertial sensors 204 of the mobile device 138 that are receivedfrom the mobile device 138. At block 2014, the boundary monitor 146determines whether the location of the mobile device 138 and thelocation of the vehicle 100 are diverging. When the location of themobile device 138 and the location of the vehicle 100 are diverging, themethod continues at block 2016. Otherwise, when the location of themobile device 138 and the location of the vehicle 100 are not diverging,the method continues at block 2018.

At block 2016, the boundary monitor 146 increases the polling intervalof the key fob 144 based on the rate at which the location of the mobiledevice 138 and the location of the vehicle 100 are diverging. At block2018, the boundary monitor 146 decreases the polling interval of the keyfob 144 based on the rate at which the location of the mobile device 138and the location of the vehicle 100 are converging.

At block 2020, the boundary monitor 146 deactivates key fob polling.

FIG. 21 is a flowchart of a method to determine whether the mobiledevice 138 is within a distance of the vehicle 100 based on regions ofprobability 706, which may be implemented by the electronic components1300 of FIG. 13. Initially, at block 2102, the boundary monitor 146determines a region of probability 706 of a location of the mobiledevice 100. At block 2104, the boundary monitor 146 determines whetherthe region of probability 706 is entirely outside the boundary 702. Whenthe region of probability 706 is entirely outside the boundary 702, themethod continues at block 2106. When the region of probability 706 isnot entirely outside the boundary 702, the method continues at block2108.

At block 2106, the boundary monitor 146 disables key fob polling ifenabled.

At block 2108, the boundary monitor 146 determines whether the region ofprobability 706 is entirely within the boundary 702. When the region ofprobability 706 is entirely inside the boundary 702, the methodcontinues at block 2106. Otherwise, when the region of probability isnot entirely inside the boundary 702, the method continues at block2110.

At block 2110, the boundary monitor 146 enables key fob polling. Atblock 2112, the boundary monitor 146 estimates the location of themobile device 138 based on the key fob polling.

FIG. 22 is a flowchart of a method to visually indicate when the mobiledevice 138 is within a distance of the vehicle 100, which may beimplemented by the electronic components 1300 of FIG. 13. At block 2202,the boundary monitor 146 determines whether the mobile device 138 isdetected. When the mobile device 138 is not detected, the methodcontinues at block 2204. Otherwise, when the mobile device 138 isdetected, the method continues at block 2206. At block 2204, theboundary monitor 146 stops projecting the representation 902 of theboundary 702 and/or turns off the lights 124 and 126 of the vehicle 100.

At block 2206, the boundary monitor 146 determines whether the mobiledevice 138 is detected outside of the boundary 702. When the mobiledevice 138 is detected outside of the boundary 702, the method continuesat block 2208. Otherwise, when the mobile device 138 is detected insideof the boundary 702, the method continues at block 2210. At block 2208,the boundary monitor 146 projects, via the projector lamps 128, therepresentation 902 of the boundary 702.

At block 2210, the boundary monitor 146 determines whether the mobiledevice 138 is detected inside of the boundary 702 and is near an edge ofthe boundary 702. When the mobile device 138 is detected inside of theboundary 702 and is near an edge of the boundary 702, the methodcontinues at block 2212. Otherwise, when the mobile device 138 isdetected inside of the boundary 702 and but is not near an edge of theboundary 702, method continues at block 2214. At block 2212, theboundary monitor 146 changes the lights 124 and 126 to a first settingand/or alters the projection of the representation 902 of the boundary702. For example, the boundary monitor 146 may cause the lights 124 and126 and/or the projector lamp 128 to have a yellow tint. As anotherexample, the boundary monitor 146 may cause the lights 124 and 126 toflash in a pattern and the representation 902 of the boundary 702 to beanimated as a dashed line that fades in and out.

At block 2214, the boundary monitor 146 determines whether the mobiledevice 138 is inside the boundary 702 and the vehicle 100 is stationary.When the mobile device 138 is inside the boundary 702 and the vehicle100 is stationary, the method continues at block 2216. Otherwise, whenthe mobile device 138 is inside the boundary 702 and the vehicle 100 isnot stationary, the method continues at block 2218. At block 2216, theboundary monitor 146 changes the lights 124 and 126 to a second settingand/or alters the projected representation 902 of the boundary 702. Forexample, the boundary monitor 146 may cause the lights 124 and 126and/or the projector lamp 128 to have a solid green tint.

At block 2218, the boundary monitor 146 determines whether the mobiledevice 138 is inside the boundary 702 and the vehicle 100 is in motion.When the mobile device 138 is inside the boundary 702 and the vehicle100 is in motion, the method continues at block 2220. Otherwise, whenthe mobile device 138 is inside the boundary 702 and the vehicle 100 isnot in motion, the method returns to block 2202. At block 2220, theboundary monitor 146 changes the lights 124 and 126 to a third settingand/or alters the projected representation 902 of the boundary 702. Forexample, the boundary monitor 146 may cause the lights 124 and 126and/or the projector lamp 128 to have a blinking green tint. As anotherexample, the boundary monitor 146 may cause the representation 902 ofthe boundary 702 to be animated to indicate the direction of travel suchthat the representation 902 is animated as a dashed representation 902of the boundary 702 where the dashes move in the direction the vehicle100 is turning and/or moving.

The flowcharts of FIGS. 14, 15, 16, 17, 18, 19, 20, 21, and 22 arerepresentative of machine readable instructions stored in memory (suchas the memory 1306 of FIG. 13 above) that comprise one or more programsthat, when executed by a processor (such as the processor 1304 of FIG.13 above), cause the vehicle 100 to implement the example boundarymonitor 146 and/or, more generally, the example body control module 134of FIGS. 1, 2, 3, 5, 7, 8A, 8B, 8C, and/or 9. Further, although theexample program(s) is/are described with reference to the flowchartillustrated in FIGS. 14, 15, 16, 17, 18, 19, 20, 21, and 22, many othermethods of implementing the example boundary monitor 146 and/or, moregenerally, the example body control module 134 may alternatively beused. For example, the order of execution of the blocks may be changed,and/or some of the blocks described may be changed, eliminated, orcombined.

In this application, the use of the disjunctive is intended to includethe conjunctive. The use of definite or indefinite articles is notintended to indicate cardinality. In particular, a reference to “the”object or “a” and “an” object is intended to denote also one of apossible plurality of such objects. Further, the conjunction “or” may beused to convey features that are simultaneously present instead ofmutually exclusive alternatives. In other words, the conjunction “or”should be understood to include “and/or”. As used here, the terms“module” and “unit” refer to hardware with circuitry to providecommunication, control and/or monitoring capabilities, often inconjunction with sensors. “Modules” and “units” may also includefirmware that executes on the circuitry. The terms “includes,”“including,” and “include” are inclusive and have the same scope as“comprises,” “comprising,” and “comprise” respectively.

The above-described embodiments, and particularly any “preferred”embodiments, are possible examples of implementations and merely setforth for a clear understanding of the principles of the invention. Manyvariations and modifications may be made to the above-describedembodiment(s) without substantially departing from the spirit andprinciples of the techniques described herein. All modifications areintended to be included herein within the scope of this disclosure andprotected by the following claims.

In some examples, the vehicle 100 includes first and second wirelessmodules 104 and 142 and a processor (e.g., the processor 1304 of FIG. 13above). The processor calculates trajectories of the vehicle 100 and amobile device 138 and estimates a location of the mobile device 138.When the mobile device 138 is within a threshold distance of the vehicle100, the processor polls a key fob 144 at an interval based on acomparison of the trajectories and estimates a location of the key fob144. When the key fob 144 is within the threshold distance, theprocessor enables autonomous parking. In some such examples, the firstwireless module 104 communicatively couples with the mobile device 138using a first set of frequencies, and the second wireless module 142communicatively couples with the key fob 144 using a second set offrequencies different from the first. In some such examples, theprocessor calculates the trajectory of the vehicle 100 based on inertiasensors 116, 118, and 122 of the vehicle 100.

In some such examples, the processor receives, via the first wirelessmodule 104, measurements from inertia sensors 204 of the mobile device138 and calculates the trajectory of the mobile device 138 based on themeasurements. In some such examples, when the mobile device 138 isoutside the threshold distance of the vehicle 100, the processor stopspolling the key fob 144. In some such examples, the processor increasesthe interval when the trajectories are diverging. In some such examples,the increase to the interval is based on a relative speed at which thevehicle 100 and the mobile device 138 are diverging. In some suchexamples, the processor decreases the interval when the trajectories areconverging. In some such examples, the decrease to the interval is basedon a relative speed at which the vehicle 100 and the mobile device 138are converging. In some examples, location of the mobile device 138 isestimated as a region of probability in which the is mobile device 138is located, In such examples, the processor polls the key fob 144 at theinterval based on the comparison of the trajectories and estimates thelocation of the key fob 144 when the any portion of the region ofprobability is within the threshold.

What is claimed is:
 1. A vehicle comprising first and second wirelessmodules; and a processor to: calculate a trajectory of the vehicle and atrajectory of a mobile device; estimate a location of the mobile device;determine that the mobile device is within a threshold distance of thevehicle, poll, based on the determination that the mobile device iswithin the threshold distance of the vehicle, a key fob at an intervalbased on a comparison of the trajectory of the vehicle and thetrajectory of the mobile device trajectories; estimate a location of thekey fob based on the poll; and determine that the key fob is within thethreshold distance of the vehicle; and enable, based on thedetermination that the key fob is within the threshold distance of thevehicle, autonomous parking.
 2. The vehicle of claim 1, wherein thefirst wireless module communicatively couples with the mobile deviceusing a first set of frequencies, and the second wireless modulecommunicatively couples with the key fob using a second set offrequencies different from the first set of frequencies.
 3. The vehicleof claim 1, wherein the processor is to calculate the trajectory of thevehicle based on inertia sensors of the vehicle.
 4. The vehicle of claim1, wherein the processor is to: receive, via the first wireless module,measurements from inertia sensors of the mobile device; and calculatethe trajectory of the mobile device based on the measurements.
 5. Thevehicle of claim 1, wherein when the mobile device is outside thethreshold distance of the vehicle, the processor is to stop polling thekey fob.
 6. The vehicle of claim 1, wherein the processor is to increasethe interval when the trajectories are diverging.
 7. The vehicle ofclaim 6, wherein the increase to the interval is based on a relativespeed at which the vehicle and the mobile device are diverging.
 8. Thevehicle of claim 1, wherein the processor is to decrease the intervalwhen the trajectories are converging.
 9. The vehicle of claim 8, whereinthe decrease to the interval is based on a relative speed at which thevehicle and the mobile device are converging.
 10. The vehicle of claim1, wherein the location of the mobile device is estimated as a region ofprobability in which the mobile device is located, and wherein theprocessor is to poll the key fob at the interval based on the comparisonof the trajectories and estimate the location of the key fob when anyportion of the region of probability is within the threshold distance.11. A method to control a vehicle comprising calculating, with aprocessor, a trajectory of the vehicle and a trajectory of a mobiledevice; estimating, with a first wireless module, a location of themobile device; determine that the mobile device is within a thresholddistance of the vehicle; polling, with a second wireless module andbased on the determination that the mobile device is within thethreshold distance of the vehicle, a key fob at an interval based on acomparison of the trajectory of the vehicle and the trajectory of themobile device; estimating a location of the key fob based on the poll;determine that the key fob is within the threshold distance of thevehicle; and enabling, based on the determination that the key fob iswithin the threshold distance of the vehicle, autonomous parking. 12.The method of claim 11, wherein the first wireless modulecommunicatively couples with the mobile device using a first set offrequencies, and the second wireless module communicatively couples withthe key fob using a second set of frequencies different from the firstset of frequencies.
 13. The method of claim 11, wherein calculating thetrajectory of the vehicle is based on inertia sensors of the vehicle.14. The method of claim 11, including: receiving, via the first wirelessmodule, measurements from inertia sensors of the mobile device; andcalculating the trajectory of the mobile device based on themeasurements.
 15. The method of claim 11, including, when the mobiledevice is outside the threshold distance of the vehicle, terminatingpolling of the key fob.
 16. The method of claim 11, wherein polling thekey fob at the interval based on the comparison of the trajectoriesincludes increasing the interval when the trajectories are diverging.17. The method of claim 16, wherein the increase to the interval isbased on a relative speed at which the vehicle and the mobile device arediverging.
 18. The method of claim 11, wherein polling the key fob atthe interval based on the comparison of the trajectories includesdecreasing the interval when the trajectories are converging.
 19. Themethod of claim 18, wherein the decrease to the interval is based on arelative speed at which the vehicle and the mobile device areconverging.
 20. The method of claim 11, wherein estimating a location ofthe mobile device includes estimating the location as a region ofprobability in which the i-s mobile device is located, and includingpolling the key fob at the interval based on the comparison of thetrajectories and estimating the location of the key fob when the anyportion of the region of probability is within the threshold distance.